<!-- HTML header for doxygen 1.9.1-->
<!DOCTYPE html
    PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
    <meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8" />
    <meta http-equiv="X-UA-Compatible" content="IE=9" />
    <meta name="generator" content="Doxygen 1.9.4" />
    <meta name="viewport" content="width=device-width, initial-scale=1" />
    <title>NumCpp: nc::rotations::Quaternion Class Reference</title>
    <link href="tabs.css" rel="stylesheet" type="text/css" />
    <script type="text/javascript" src="jquery.js"></script>
    <script type="text/javascript" src="dynsections.js"></script>
    <link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
    <link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
    <link href="doxygen.css" rel="stylesheet" type="text/css" />
    <link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
<link href="doxygen-awesome-sidebar-only-darkmode-toggle.css" rel="stylesheet" type="text/css"/>
    <!-- ... other metadata & script includes ... -->
    <script type="text/javascript" src="../doxygen-awesome-css/doxygen-awesome-darkmode-toggle.js"></script>
    <script type="text/javascript">
        DoxygenAwesomeDarkModeToggle.init()
    </script>
    <script type="text/javascript"
        src="../doxygen-awesome-css/doxygen-awesome-fragment-copy-button.js"></script>
    <script type="text/javascript">
        DoxygenAwesomeFragmentCopyButton.init()
    </script>
    <script type="text/javascript" src="../doxygen-awesome-css/doxygen-awesome-paragraph-link.js"></script>
    <script type="text/javascript">
        DoxygenAwesomeParagraphLink.init()
    </script>
    <script type="text/javascript" src="../doxygen-awesome-css/doxygen-awesome-interactive-toc.js"></script>
    <script type="text/javascript">
        DoxygenAwesomeInteractiveToc.init()
    </script>
</head>
<body>
    <div id="top">
        <!-- do not remove this div, it is closed by doxygen! -->
        <div id="titlearea">
            <table cellspacing="0" cellpadding="0">
                <tbody>
                    <tr style="height: 56px;">
                        <td id="projectlogo"><img alt="Logo" src="NumCppLogoDoxygen.png" /></td>
                        <td id="projectalign" style="padding-left: 0.5em;">
                            <div id="projectname">NumCpp
                                &#160;<span id="projectnumber">2.12.1</span>
                            </div>
                            <div id="projectbrief">A Templatized Header Only C++ Implementation of the Python NumPy Library</div>
                        </td>
                    </tr>
                </tbody>
            </table>
        </div>
        <!-- end header part --><!-- Generated by Doxygen 1.9.4 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
var searchBox = new SearchBox("searchBox", "search",'Search','.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
$(function() {
  initMenu('',true,false,'search.php','Search');
  $(document).ready(function() { init_search(); });
});
/* @license-end */
</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
$(document).ready(function(){initNavTree('classnc_1_1rotations_1_1_quaternion.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="summary">
<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
<a href="#friends">Friends</a>  </div>
  <div class="headertitle"><div class="title">nc::rotations::Quaternion Class Reference</div></div>
</div><!--header-->
<div class="contents">

<p>Holds a unit quaternion.  
 <a href="classnc_1_1rotations_1_1_quaternion.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="_quaternion_8hpp_source.html">Quaternion.hpp</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a3b6901fb3a079eb9249bd1bf3098c36c"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a3b6901fb3a079eb9249bd1bf3098c36c">Quaternion</a> ()=default</td></tr>
<tr class="separator:a3b6901fb3a079eb9249bd1bf3098c36c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:addcc7fb7b4acd4201e7f5b90ef207f4d"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#addcc7fb7b4acd4201e7f5b90ef207f4d">Quaternion</a> (const <a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt; &amp;inArray)</td></tr>
<tr class="separator:addcc7fb7b4acd4201e7f5b90ef207f4d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a81b7db9d5e593a61272e09ce7dcc1325"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a81b7db9d5e593a61272e09ce7dcc1325">Quaternion</a> (const <a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt; &amp;inAxis, double inAngle)</td></tr>
<tr class="separator:a81b7db9d5e593a61272e09ce7dcc1325"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a50d742e97e4eb6bf156623b544d5b0a1"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a50d742e97e4eb6bf156623b544d5b0a1">Quaternion</a> (const std::array&lt; double, 4 &gt; &amp;components) noexcept</td></tr>
<tr class="separator:a50d742e97e4eb6bf156623b544d5b0a1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abbacae2cb36d4f7e93e1cf130f8ca6b4"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#abbacae2cb36d4f7e93e1cf130f8ca6b4">Quaternion</a> (const <a class="el" href="classnc_1_1_vec3.html">Vec3</a> &amp;inAxis, double inAngle) noexcept</td></tr>
<tr class="separator:abbacae2cb36d4f7e93e1cf130f8ca6b4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3ba2fb2c68554ec78a0957dc1fd7752d"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a3ba2fb2c68554ec78a0957dc1fd7752d">Quaternion</a> (double inI, double inJ, double inK, double inS) noexcept</td></tr>
<tr class="separator:a3ba2fb2c68554ec78a0957dc1fd7752d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8c498c295071b8b787902044bf87d34d"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a8c498c295071b8b787902044bf87d34d">Quaternion</a> (double <a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a26f2a9303f0521ee36d92467ab45e3ab">roll</a>, double <a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a601b444c8c8f820700844d7ab5f743ba">pitch</a>, double <a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a5b5cef534a39badf5d3079ee642e675c">yaw</a>) noexcept</td></tr>
<tr class="separator:a8c498c295071b8b787902044bf87d34d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a184f5c55ea78128aec0ad4f72b4d5a59"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a184f5c55ea78128aec0ad4f72b4d5a59">angleOfRotation</a> () const noexcept</td></tr>
<tr class="separator:a184f5c55ea78128aec0ad4f72b4d5a59"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3ec3451b38b4ec0e10c1e9229685c8b7"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a3ec3451b38b4ec0e10c1e9229685c8b7">angularVelocity</a> (const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;inQuat2, double inTime) const</td></tr>
<tr class="separator:a3ec3451b38b4ec0e10c1e9229685c8b7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae64d991c058b8646a98682fc8b3c1e18"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classnc_1_1_vec3.html">Vec3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#ae64d991c058b8646a98682fc8b3c1e18">axisOfRotation</a> () const noexcept</td></tr>
<tr class="separator:ae64d991c058b8646a98682fc8b3c1e18"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ade406544e8360506bb77102d17b14e61"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#ade406544e8360506bb77102d17b14e61">conjugate</a> () const noexcept</td></tr>
<tr class="separator:ade406544e8360506bb77102d17b14e61"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5a661b367dff916e8bdb5e28ac608ecd"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a5a661b367dff916e8bdb5e28ac608ecd">i</a> () const noexcept</td></tr>
<tr class="separator:a5a661b367dff916e8bdb5e28ac608ecd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9b0634474b2ff27f9443ba256ea00ab1"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a9b0634474b2ff27f9443ba256ea00ab1">inverse</a> () const noexcept</td></tr>
<tr class="separator:a9b0634474b2ff27f9443ba256ea00ab1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acb62c703a1f96333bf76ad0735cb8b97"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#acb62c703a1f96333bf76ad0735cb8b97">j</a> () const noexcept</td></tr>
<tr class="separator:acb62c703a1f96333bf76ad0735cb8b97"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa2eee61d3a428a558f28d1bb6cc6a048"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#aa2eee61d3a428a558f28d1bb6cc6a048">k</a> () const noexcept</td></tr>
<tr class="separator:aa2eee61d3a428a558f28d1bb6cc6a048"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab055510c1338490b957de867cecaf790"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#ab055510c1338490b957de867cecaf790">nlerp</a> (const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;inQuat2, double inPercent) const</td></tr>
<tr class="separator:ab055510c1338490b957de867cecaf790"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adcf57fd29d62e19f5c764750262ff7c3"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#adcf57fd29d62e19f5c764750262ff7c3">operator!=</a> (const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;inRhs) const noexcept</td></tr>
<tr class="separator:adcf57fd29d62e19f5c764750262ff7c3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4f6f72c62379d40b2880a08128a6262e"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a4f6f72c62379d40b2880a08128a6262e">operator*</a> (const <a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt; &amp;inVec) const</td></tr>
<tr class="separator:a4f6f72c62379d40b2880a08128a6262e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adad6ca92266f6090930addc585900805"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#adad6ca92266f6090930addc585900805">operator*</a> (const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;inRhs) const noexcept</td></tr>
<tr class="separator:adad6ca92266f6090930addc585900805"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a97a81255a6bb91049b1ad7e7b83e2f7f"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classnc_1_1_vec3.html">Vec3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a97a81255a6bb91049b1ad7e7b83e2f7f">operator*</a> (const <a class="el" href="classnc_1_1_vec3.html">Vec3</a> &amp;inVec3) const</td></tr>
<tr class="separator:a97a81255a6bb91049b1ad7e7b83e2f7f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad63920fa01f5bd4949c0fbb3ff7c7137"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#ad63920fa01f5bd4949c0fbb3ff7c7137">operator*</a> (double inScalar) const noexcept</td></tr>
<tr class="separator:ad63920fa01f5bd4949c0fbb3ff7c7137"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af5136e02f6b852d9f91c70c2c6bf66a8"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#af5136e02f6b852d9f91c70c2c6bf66a8">operator*=</a> (const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;inRhs) noexcept</td></tr>
<tr class="separator:af5136e02f6b852d9f91c70c2c6bf66a8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac2fe3ccf8397a29a3c06622acc6ff725"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#ac2fe3ccf8397a29a3c06622acc6ff725">operator*=</a> (double inScalar) noexcept</td></tr>
<tr class="separator:ac2fe3ccf8397a29a3c06622acc6ff725"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a53c84fdd06a1f980c7c74a185d568156"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a53c84fdd06a1f980c7c74a185d568156">operator+</a> (const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;inRhs) const noexcept</td></tr>
<tr class="separator:a53c84fdd06a1f980c7c74a185d568156"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:accfd9115d723d83ea3deb8ff3aece958"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#accfd9115d723d83ea3deb8ff3aece958">operator+=</a> (const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;inRhs) noexcept</td></tr>
<tr class="separator:accfd9115d723d83ea3deb8ff3aece958"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a43fe6603ffbaaadf9348910e17e99519"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a43fe6603ffbaaadf9348910e17e99519">operator-</a> () const noexcept</td></tr>
<tr class="separator:a43fe6603ffbaaadf9348910e17e99519"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad6eb2370d77e01a944c4b32a48966e76"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#ad6eb2370d77e01a944c4b32a48966e76">operator-</a> (const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;inRhs) const noexcept</td></tr>
<tr class="separator:ad6eb2370d77e01a944c4b32a48966e76"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af150a85479ebc3348ed733715bec6084"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#af150a85479ebc3348ed733715bec6084">operator-=</a> (const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;inRhs) noexcept</td></tr>
<tr class="separator:af150a85479ebc3348ed733715bec6084"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab054e067fc333a48582e291f95120866"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#ab054e067fc333a48582e291f95120866">operator/</a> (const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;inRhs) const noexcept</td></tr>
<tr class="separator:ab054e067fc333a48582e291f95120866"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6a2a9788df1d79c9e90223c68d5bef55"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a6a2a9788df1d79c9e90223c68d5bef55">operator/=</a> (const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;inRhs) noexcept</td></tr>
<tr class="separator:a6a2a9788df1d79c9e90223c68d5bef55"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a82f40acb2292256faffab2b88aa38208"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a82f40acb2292256faffab2b88aa38208">operator==</a> (const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;inRhs) const noexcept</td></tr>
<tr class="separator:a82f40acb2292256faffab2b88aa38208"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a601b444c8c8f820700844d7ab5f743ba"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a601b444c8c8f820700844d7ab5f743ba">pitch</a> () const noexcept</td></tr>
<tr class="separator:a601b444c8c8f820700844d7ab5f743ba"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a815d72f9b492ff821077d5d4652b7985"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a815d72f9b492ff821077d5d4652b7985">print</a> () const</td></tr>
<tr class="separator:a815d72f9b492ff821077d5d4652b7985"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a26f2a9303f0521ee36d92467ab45e3ab"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a26f2a9303f0521ee36d92467ab45e3ab">roll</a> () const noexcept</td></tr>
<tr class="separator:a26f2a9303f0521ee36d92467ab45e3ab"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a864a93abf9478d9f47fd9eadeb745b18"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a864a93abf9478d9f47fd9eadeb745b18">rotate</a> (const <a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt; &amp;inVector) const</td></tr>
<tr class="separator:a864a93abf9478d9f47fd9eadeb745b18"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a382d4e4c045bce131c5cce634ed077c7"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classnc_1_1_vec3.html">Vec3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a382d4e4c045bce131c5cce634ed077c7">rotate</a> (const <a class="el" href="classnc_1_1_vec3.html">Vec3</a> &amp;inVec3) const</td></tr>
<tr class="separator:a382d4e4c045bce131c5cce634ed077c7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a075b6f1befef247f5d638c91e1a451fd"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a075b6f1befef247f5d638c91e1a451fd">s</a> () const noexcept</td></tr>
<tr class="separator:a075b6f1befef247f5d638c91e1a451fd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a687155cd6469c095941b94a738119da9"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a687155cd6469c095941b94a738119da9">slerp</a> (const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;inQuat2, double inPercent) const</td></tr>
<tr class="separator:a687155cd6469c095941b94a738119da9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0ddeeba7435df3364f262215f24c93c1"><td class="memItemLeft" align="right" valign="top">std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a0ddeeba7435df3364f262215f24c93c1">str</a> () const</td></tr>
<tr class="separator:a0ddeeba7435df3364f262215f24c93c1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaf9230af84ef1133ca9483da561b0450"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#aaf9230af84ef1133ca9483da561b0450">toDCM</a> () const</td></tr>
<tr class="separator:aaf9230af84ef1133ca9483da561b0450"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a68e07632cd09569ad607cb802b400ded"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a68e07632cd09569ad607cb802b400ded">toNdArray</a> () const</td></tr>
<tr class="separator:a68e07632cd09569ad607cb802b400ded"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5b5cef534a39badf5d3079ee642e675c"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a5b5cef534a39badf5d3079ee642e675c">yaw</a> () const noexcept</td></tr>
<tr class="separator:a5b5cef534a39badf5d3079ee642e675c"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr class="memitem:aeef47bcd4879e9727ac33838aaac3112"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#aeef47bcd4879e9727ac33838aaac3112">angularVelocity</a> (const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;inQuat1, const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;inQuat2, double inTime)</td></tr>
<tr class="separator:aeef47bcd4879e9727ac33838aaac3112"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae093d333b66b63eeef5704be4a374af2"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#ae093d333b66b63eeef5704be4a374af2">identity</a> () noexcept</td></tr>
<tr class="separator:ae093d333b66b63eeef5704be4a374af2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a314478702a3da52f2be3f422057d8732"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a314478702a3da52f2be3f422057d8732">nlerp</a> (const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;inQuat1, const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;inQuat2, double inPercent)</td></tr>
<tr class="separator:a314478702a3da52f2be3f422057d8732"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aff32c4f1c065428e8ed31e552a1c8e53"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#aff32c4f1c065428e8ed31e552a1c8e53">pitchRotation</a> (double inAngle) noexcept</td></tr>
<tr class="separator:aff32c4f1c065428e8ed31e552a1c8e53"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a34f25fa102a594dff4679d74837001ce"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a34f25fa102a594dff4679d74837001ce">rollRotation</a> (double inAngle) noexcept</td></tr>
<tr class="separator:a34f25fa102a594dff4679d74837001ce"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7a39f199e4d1ad773b93c69e66ae0415"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a7a39f199e4d1ad773b93c69e66ae0415">slerp</a> (const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;inQuat1, const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;inQuat2, double inPercent)</td></tr>
<tr class="separator:a7a39f199e4d1ad773b93c69e66ae0415"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a30fe8031959271e5b0134a0c562713b4"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a30fe8031959271e5b0134a0c562713b4">xRotation</a> (double inAngle) noexcept</td></tr>
<tr class="separator:a30fe8031959271e5b0134a0c562713b4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7a59f6daaafd941879abecff8d3a1348"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a7a59f6daaafd941879abecff8d3a1348">yawRotation</a> (double inAngle) noexcept</td></tr>
<tr class="separator:a7a59f6daaafd941879abecff8d3a1348"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab77da90ef63465f79bd79348330ca9a4"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#ab77da90ef63465f79bd79348330ca9a4">yRotation</a> (double inAngle) noexcept</td></tr>
<tr class="separator:ab77da90ef63465f79bd79348330ca9a4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaf688fafc4714f1da399e265c8e49a8d"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#aaf688fafc4714f1da399e265c8e49a8d">zRotation</a> (double inAngle) noexcept</td></tr>
<tr class="separator:aaf688fafc4714f1da399e265c8e49a8d"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="friends" name="friends"></a>
Friends</h2></td></tr>
<tr class="memitem:a25202016ba38847906709881202a8e56"><td class="memItemLeft" align="right" valign="top">std::ostream &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html#a25202016ba38847906709881202a8e56">operator&lt;&lt;</a> (std::ostream &amp;inOStream, const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;inQuat)</td></tr>
<tr class="separator:a25202016ba38847906709881202a8e56"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p >Holds a unit quaternion. </p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a id="a3b6901fb3a079eb9249bd1bf3098c36c" name="a3b6901fb3a079eb9249bd1bf3098c36c"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a3b6901fb3a079eb9249bd1bf3098c36c">&#9670;&nbsp;</a></span>Quaternion() <span class="overload">[1/7]</span></h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">nc::rotations::Quaternion::Quaternion </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">default</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >Default Constructor </p>

</div>
</div>
<a id="a8c498c295071b8b787902044bf87d34d" name="a8c498c295071b8b787902044bf87d34d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a8c498c295071b8b787902044bf87d34d">&#9670;&nbsp;</a></span>Quaternion() <span class="overload">[2/7]</span></h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">nc::rotations::Quaternion::Quaternion </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>roll</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>pitch</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>yaw</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">noexcept</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >Constructor</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">roll</td><td>euler roll angle in radians </td></tr>
    <tr><td class="paramname">pitch</td><td>euler pitch angle in radians </td></tr>
    <tr><td class="paramname">yaw</td><td>euler yaw angle in radians </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="a3ba2fb2c68554ec78a0957dc1fd7752d" name="a3ba2fb2c68554ec78a0957dc1fd7752d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a3ba2fb2c68554ec78a0957dc1fd7752d">&#9670;&nbsp;</a></span>Quaternion() <span class="overload">[3/7]</span></h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">nc::rotations::Quaternion::Quaternion </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>inI</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>inJ</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>inK</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>inS</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">noexcept</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >Constructor</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inI</td><td></td></tr>
    <tr><td class="paramname">inJ</td><td></td></tr>
    <tr><td class="paramname">inK</td><td></td></tr>
    <tr><td class="paramname">inS</td><td></td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="a50d742e97e4eb6bf156623b544d5b0a1" name="a50d742e97e4eb6bf156623b544d5b0a1"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a50d742e97e4eb6bf156623b544d5b0a1">&#9670;&nbsp;</a></span>Quaternion() <span class="overload">[4/7]</span></h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">nc::rotations::Quaternion::Quaternion </td>
          <td>(</td>
          <td class="paramtype">const std::array&lt; double, 4 &gt; &amp;&#160;</td>
          <td class="paramname"><em>components</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">noexcept</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >Constructor</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">components</td><td></td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="addcc7fb7b4acd4201e7f5b90ef207f4d" name="addcc7fb7b4acd4201e7f5b90ef207f4d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#addcc7fb7b4acd4201e7f5b90ef207f4d">&#9670;&nbsp;</a></span>Quaternion() <span class="overload">[5/7]</span></h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">nc::rotations::Quaternion::Quaternion </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt; &amp;&#160;</td>
          <td class="paramname"><em>inArray</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >Constructor</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inArray</td><td>if size = 3 the roll, pitch, yaw euler angles if size = 4 the i, j, k, s components if shape = [3, 3] then direction cosine matrix </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="abbacae2cb36d4f7e93e1cf130f8ca6b4" name="abbacae2cb36d4f7e93e1cf130f8ca6b4"></a>
<h2 class="memtitle"><span class="permalink"><a href="#abbacae2cb36d4f7e93e1cf130f8ca6b4">&#9670;&nbsp;</a></span>Quaternion() <span class="overload">[6/7]</span></h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">nc::rotations::Quaternion::Quaternion </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1_vec3.html">Vec3</a> &amp;&#160;</td>
          <td class="paramname"><em>inAxis</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>inAngle</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">noexcept</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >Constructor</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inAxis</td><td>Euler axis </td></tr>
    <tr><td class="paramname">inAngle</td><td>Euler angle in radians </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="a81b7db9d5e593a61272e09ce7dcc1325" name="a81b7db9d5e593a61272e09ce7dcc1325"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a81b7db9d5e593a61272e09ce7dcc1325">&#9670;&nbsp;</a></span>Quaternion() <span class="overload">[7/7]</span></h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">nc::rotations::Quaternion::Quaternion </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt; &amp;&#160;</td>
          <td class="paramname"><em>inAxis</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>inAngle</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >Constructor</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inAxis</td><td>Euler axis x,y,z vector components </td></tr>
    <tr><td class="paramname">inAngle</td><td>Euler angle in radians </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<h2 class="groupheader">Member Function Documentation</h2>
<a id="a184f5c55ea78128aec0ad4f72b4d5a59" name="a184f5c55ea78128aec0ad4f72b4d5a59"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a184f5c55ea78128aec0ad4f72b4d5a59">&#9670;&nbsp;</a></span>angleOfRotation()</h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">double nc::rotations::Quaternion::angleOfRotation </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">noexcept</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >the angle of rotation around the rotation axis that is described by the quaternion</p>
<dl class="section return"><dt>Returns</dt><dd>radians </dd></dl>

</div>
</div>
<a id="aeef47bcd4879e9727ac33838aaac3112" name="aeef47bcd4879e9727ac33838aaac3112"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aeef47bcd4879e9727ac33838aaac3112">&#9670;&nbsp;</a></span>angularVelocity() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">static <a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt; nc::rotations::Quaternion::angularVelocity </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td>
          <td class="paramname"><em>inQuat1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td>
          <td class="paramname"><em>inQuat2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>inTime</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >angular velocity vector between the two quaternions. The norm of the array is the magnitude</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inQuat1</td><td></td></tr>
    <tr><td class="paramname">inQuat2</td><td></td></tr>
    <tr><td class="paramname">inTime</td><td>(seperation time) </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a> </dd></dl>

</div>
</div>
<a id="a3ec3451b38b4ec0e10c1e9229685c8b7" name="a3ec3451b38b4ec0e10c1e9229685c8b7"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a3ec3451b38b4ec0e10c1e9229685c8b7">&#9670;&nbsp;</a></span>angularVelocity() <span class="overload">[2/2]</span></h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt; nc::rotations::Quaternion::angularVelocity </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td>
          <td class="paramname"><em>inQuat2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>inTime</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >angular velocity vector between the two quaternions. The norm of the array is the magnitude</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inQuat2</td><td></td></tr>
    <tr><td class="paramname">inTime</td><td>(seperation time) </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a> </dd></dl>

</div>
</div>
<a id="ae64d991c058b8646a98682fc8b3c1e18" name="ae64d991c058b8646a98682fc8b3c1e18"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ae64d991c058b8646a98682fc8b3c1e18">&#9670;&nbsp;</a></span>axisOfRotation()</h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classnc_1_1_vec3.html">Vec3</a> nc::rotations::Quaternion::axisOfRotation </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">noexcept</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >the axis of rotation described by the quaternion</p>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1_vec3.html" title="Holds a 3D vector.">Vec3</a> </dd></dl>

</div>
</div>
<a id="ade406544e8360506bb77102d17b14e61" name="ade406544e8360506bb77102d17b14e61"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ade406544e8360506bb77102d17b14e61">&#9670;&nbsp;</a></span>conjugate()</h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> nc::rotations::Quaternion::conjugate </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">noexcept</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >quaternion conjugate</p>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1rotations_1_1_quaternion.html" title="Holds a unit quaternion.">Quaternion</a> </dd></dl>

</div>
</div>
<a id="a5a661b367dff916e8bdb5e28ac608ecd" name="a5a661b367dff916e8bdb5e28ac608ecd"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a5a661b367dff916e8bdb5e28ac608ecd">&#9670;&nbsp;</a></span>i()</h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">double nc::rotations::Quaternion::i </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">noexcept</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >returns the i component</p>
<dl class="section return"><dt>Returns</dt><dd>double </dd></dl>

</div>
</div>
<a id="ae093d333b66b63eeef5704be4a374af2" name="ae093d333b66b63eeef5704be4a374af2"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ae093d333b66b63eeef5704be4a374af2">&#9670;&nbsp;</a></span>identity()</h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">static <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> nc::rotations::Quaternion::identity </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span><span class="mlabel">noexcept</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >quaternion identity (0,0,0,1)</p>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1rotations_1_1_quaternion.html" title="Holds a unit quaternion.">Quaternion</a> </dd></dl>

</div>
</div>
<a id="a9b0634474b2ff27f9443ba256ea00ab1" name="a9b0634474b2ff27f9443ba256ea00ab1"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a9b0634474b2ff27f9443ba256ea00ab1">&#9670;&nbsp;</a></span>inverse()</h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> nc::rotations::Quaternion::inverse </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">noexcept</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >quaternion inverse</p>
<dl class="section return"><dt>Returns</dt><dd>Quaterion </dd></dl>

</div>
</div>
<a id="acb62c703a1f96333bf76ad0735cb8b97" name="acb62c703a1f96333bf76ad0735cb8b97"></a>
<h2 class="memtitle"><span class="permalink"><a href="#acb62c703a1f96333bf76ad0735cb8b97">&#9670;&nbsp;</a></span>j()</h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">double nc::rotations::Quaternion::j </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">noexcept</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >returns the j component</p>
<dl class="section return"><dt>Returns</dt><dd>double </dd></dl>

</div>
</div>
<a id="aa2eee61d3a428a558f28d1bb6cc6a048" name="aa2eee61d3a428a558f28d1bb6cc6a048"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aa2eee61d3a428a558f28d1bb6cc6a048">&#9670;&nbsp;</a></span>k()</h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">double nc::rotations::Quaternion::k </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">noexcept</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >returns the k component</p>
<dl class="section return"><dt>Returns</dt><dd>double </dd></dl>

</div>
</div>
<a id="a314478702a3da52f2be3f422057d8732" name="a314478702a3da52f2be3f422057d8732"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a314478702a3da52f2be3f422057d8732">&#9670;&nbsp;</a></span>nlerp() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">static <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> nc::rotations::Quaternion::nlerp </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td>
          <td class="paramname"><em>inQuat1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td>
          <td class="paramname"><em>inQuat2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>inPercent</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >linearly interpolates between the two quaternions</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inQuat1</td><td></td></tr>
    <tr><td class="paramname">inQuat2</td><td></td></tr>
    <tr><td class="paramname">inPercent</td><td>[0, 1] </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1rotations_1_1_quaternion.html" title="Holds a unit quaternion.">Quaternion</a> </dd></dl>

</div>
</div>
<a id="ab055510c1338490b957de867cecaf790" name="ab055510c1338490b957de867cecaf790"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab055510c1338490b957de867cecaf790">&#9670;&nbsp;</a></span>nlerp() <span class="overload">[2/2]</span></h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> nc::rotations::Quaternion::nlerp </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td>
          <td class="paramname"><em>inQuat2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>inPercent</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >linearly interpolates between the two quaternions</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inQuat2</td><td></td></tr>
    <tr><td class="paramname">inPercent</td><td>(0, 1) </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1rotations_1_1_quaternion.html" title="Holds a unit quaternion.">Quaternion</a> </dd></dl>

</div>
</div>
<a id="adcf57fd29d62e19f5c764750262ff7c3" name="adcf57fd29d62e19f5c764750262ff7c3"></a>
<h2 class="memtitle"><span class="permalink"><a href="#adcf57fd29d62e19f5c764750262ff7c3">&#9670;&nbsp;</a></span>operator!=()</h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">bool nc::rotations::Quaternion::operator!= </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td>
          <td class="paramname"><em>inRhs</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">noexcept</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >equality operator</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inRhs</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>bool </dd></dl>

</div>
</div>
<a id="a4f6f72c62379d40b2880a08128a6262e" name="a4f6f72c62379d40b2880a08128a6262e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a4f6f72c62379d40b2880a08128a6262e">&#9670;&nbsp;</a></span>operator*() <span class="overload">[1/4]</span></h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt; nc::rotations::Quaternion::operator* </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt; &amp;&#160;</td>
          <td class="paramname"><em>inVec</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >multiplication operator</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inVec</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a> </dd></dl>

</div>
</div>
<a id="adad6ca92266f6090930addc585900805" name="adad6ca92266f6090930addc585900805"></a>
<h2 class="memtitle"><span class="permalink"><a href="#adad6ca92266f6090930addc585900805">&#9670;&nbsp;</a></span>operator*() <span class="overload">[2/4]</span></h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> nc::rotations::Quaternion::operator* </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td>
          <td class="paramname"><em>inRhs</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">noexcept</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >multiplication operator</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inRhs</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1rotations_1_1_quaternion.html" title="Holds a unit quaternion.">Quaternion</a> </dd></dl>

</div>
</div>
<a id="a97a81255a6bb91049b1ad7e7b83e2f7f" name="a97a81255a6bb91049b1ad7e7b83e2f7f"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a97a81255a6bb91049b1ad7e7b83e2f7f">&#9670;&nbsp;</a></span>operator*() <span class="overload">[3/4]</span></h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classnc_1_1_vec3.html">Vec3</a> nc::rotations::Quaternion::operator* </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1_vec3.html">Vec3</a> &amp;&#160;</td>
          <td class="paramname"><em>inVec3</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >multiplication operator</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inVec3</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1_vec3.html" title="Holds a 3D vector.">Vec3</a> </dd></dl>

</div>
</div>
<a id="ad63920fa01f5bd4949c0fbb3ff7c7137" name="ad63920fa01f5bd4949c0fbb3ff7c7137"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ad63920fa01f5bd4949c0fbb3ff7c7137">&#9670;&nbsp;</a></span>operator*() <span class="overload">[4/4]</span></h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> nc::rotations::Quaternion::operator* </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>inScalar</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">noexcept</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >multiplication operator, only useful for multiplying by negative 1, all others will be renormalized back out</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inScalar</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1rotations_1_1_quaternion.html" title="Holds a unit quaternion.">Quaternion</a> </dd></dl>

</div>
</div>
<a id="af5136e02f6b852d9f91c70c2c6bf66a8" name="af5136e02f6b852d9f91c70c2c6bf66a8"></a>
<h2 class="memtitle"><span class="permalink"><a href="#af5136e02f6b852d9f91c70c2c6bf66a8">&#9670;&nbsp;</a></span>operator*=() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp; nc::rotations::Quaternion::operator*= </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td>
          <td class="paramname"><em>inRhs</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">noexcept</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >multiplication assignment operator</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inRhs</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1rotations_1_1_quaternion.html" title="Holds a unit quaternion.">Quaternion</a> </dd></dl>

</div>
</div>
<a id="ac2fe3ccf8397a29a3c06622acc6ff725" name="ac2fe3ccf8397a29a3c06622acc6ff725"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ac2fe3ccf8397a29a3c06622acc6ff725">&#9670;&nbsp;</a></span>operator*=() <span class="overload">[2/2]</span></h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp; nc::rotations::Quaternion::operator*= </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>inScalar</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">noexcept</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >multiplication operator, only useful for multiplying by negative 1, all others will be renormalized back out</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inScalar</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1rotations_1_1_quaternion.html" title="Holds a unit quaternion.">Quaternion</a> </dd></dl>

</div>
</div>
<a id="a53c84fdd06a1f980c7c74a185d568156" name="a53c84fdd06a1f980c7c74a185d568156"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a53c84fdd06a1f980c7c74a185d568156">&#9670;&nbsp;</a></span>operator+()</h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> nc::rotations::Quaternion::operator+ </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td>
          <td class="paramname"><em>inRhs</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">noexcept</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >addition operator</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inRhs</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1rotations_1_1_quaternion.html" title="Holds a unit quaternion.">Quaternion</a> </dd></dl>

</div>
</div>
<a id="accfd9115d723d83ea3deb8ff3aece958" name="accfd9115d723d83ea3deb8ff3aece958"></a>
<h2 class="memtitle"><span class="permalink"><a href="#accfd9115d723d83ea3deb8ff3aece958">&#9670;&nbsp;</a></span>operator+=()</h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp; nc::rotations::Quaternion::operator+= </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td>
          <td class="paramname"><em>inRhs</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">noexcept</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >addition assignment operator</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inRhs</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1rotations_1_1_quaternion.html" title="Holds a unit quaternion.">Quaternion</a> </dd></dl>

</div>
</div>
<a id="a43fe6603ffbaaadf9348910e17e99519" name="a43fe6603ffbaaadf9348910e17e99519"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a43fe6603ffbaaadf9348910e17e99519">&#9670;&nbsp;</a></span>operator-() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> nc::rotations::Quaternion::operator- </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">noexcept</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >negative operator</p>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1rotations_1_1_quaternion.html" title="Holds a unit quaternion.">Quaternion</a> </dd></dl>

</div>
</div>
<a id="ad6eb2370d77e01a944c4b32a48966e76" name="ad6eb2370d77e01a944c4b32a48966e76"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ad6eb2370d77e01a944c4b32a48966e76">&#9670;&nbsp;</a></span>operator-() <span class="overload">[2/2]</span></h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> nc::rotations::Quaternion::operator- </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td>
          <td class="paramname"><em>inRhs</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">noexcept</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >subtraction operator</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inRhs</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1rotations_1_1_quaternion.html" title="Holds a unit quaternion.">Quaternion</a> </dd></dl>

</div>
</div>
<a id="af150a85479ebc3348ed733715bec6084" name="af150a85479ebc3348ed733715bec6084"></a>
<h2 class="memtitle"><span class="permalink"><a href="#af150a85479ebc3348ed733715bec6084">&#9670;&nbsp;</a></span>operator-=()</h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp; nc::rotations::Quaternion::operator-= </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td>
          <td class="paramname"><em>inRhs</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">noexcept</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >subtraction assignment operator</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inRhs</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1rotations_1_1_quaternion.html" title="Holds a unit quaternion.">Quaternion</a> </dd></dl>

</div>
</div>
<a id="ab054e067fc333a48582e291f95120866" name="ab054e067fc333a48582e291f95120866"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab054e067fc333a48582e291f95120866">&#9670;&nbsp;</a></span>operator/()</h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> nc::rotations::Quaternion::operator/ </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td>
          <td class="paramname"><em>inRhs</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">noexcept</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >division operator</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inRhs</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1rotations_1_1_quaternion.html" title="Holds a unit quaternion.">Quaternion</a> </dd></dl>

</div>
</div>
<a id="a6a2a9788df1d79c9e90223c68d5bef55" name="a6a2a9788df1d79c9e90223c68d5bef55"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a6a2a9788df1d79c9e90223c68d5bef55">&#9670;&nbsp;</a></span>operator/=()</h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp; nc::rotations::Quaternion::operator/= </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td>
          <td class="paramname"><em>inRhs</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">noexcept</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >division assignment operator</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inRhs</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1rotations_1_1_quaternion.html" title="Holds a unit quaternion.">Quaternion</a> </dd></dl>

</div>
</div>
<a id="a82f40acb2292256faffab2b88aa38208" name="a82f40acb2292256faffab2b88aa38208"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a82f40acb2292256faffab2b88aa38208">&#9670;&nbsp;</a></span>operator==()</h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">bool nc::rotations::Quaternion::operator== </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td>
          <td class="paramname"><em>inRhs</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">noexcept</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >equality operator</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inRhs</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>bool </dd></dl>

</div>
</div>
<a id="a601b444c8c8f820700844d7ab5f743ba" name="a601b444c8c8f820700844d7ab5f743ba"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a601b444c8c8f820700844d7ab5f743ba">&#9670;&nbsp;</a></span>pitch()</h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">double nc::rotations::Quaternion::pitch </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">noexcept</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >The euler pitch angle in radians</p>
<dl class="section return"><dt>Returns</dt><dd>euler pitch angle in radians </dd></dl>

</div>
</div>
<a id="aff32c4f1c065428e8ed31e552a1c8e53" name="aff32c4f1c065428e8ed31e552a1c8e53"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aff32c4f1c065428e8ed31e552a1c8e53">&#9670;&nbsp;</a></span>pitchRotation()</h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">static <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> nc::rotations::Quaternion::pitchRotation </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>inAngle</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span><span class="mlabel">noexcept</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >returns a quaternion to rotate about the pitch axis</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inAngle</td><td>(radians) </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1rotations_1_1_quaternion.html" title="Holds a unit quaternion.">Quaternion</a> </dd></dl>

</div>
</div>
<a id="a815d72f9b492ff821077d5d4652b7985" name="a815d72f9b492ff821077d5d4652b7985"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a815d72f9b492ff821077d5d4652b7985">&#9670;&nbsp;</a></span>print()</h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void nc::rotations::Quaternion::print </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >prints the <a class="el" href="classnc_1_1rotations_1_1_quaternion.html" title="Holds a unit quaternion.">Quaternion</a> to the console </p>

</div>
</div>
<a id="a26f2a9303f0521ee36d92467ab45e3ab" name="a26f2a9303f0521ee36d92467ab45e3ab"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a26f2a9303f0521ee36d92467ab45e3ab">&#9670;&nbsp;</a></span>roll()</h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">double nc::rotations::Quaternion::roll </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">noexcept</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >The euler roll angle in radians</p>
<dl class="section return"><dt>Returns</dt><dd>euler roll angle in radians </dd></dl>

</div>
</div>
<a id="a34f25fa102a594dff4679d74837001ce" name="a34f25fa102a594dff4679d74837001ce"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a34f25fa102a594dff4679d74837001ce">&#9670;&nbsp;</a></span>rollRotation()</h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">static <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> nc::rotations::Quaternion::rollRotation </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>inAngle</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span><span class="mlabel">noexcept</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >returns a quaternion to rotate about the roll axis</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inAngle</td><td>(radians) </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1rotations_1_1_quaternion.html" title="Holds a unit quaternion.">Quaternion</a> </dd></dl>

</div>
</div>
<a id="a864a93abf9478d9f47fd9eadeb745b18" name="a864a93abf9478d9f47fd9eadeb745b18"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a864a93abf9478d9f47fd9eadeb745b18">&#9670;&nbsp;</a></span>rotate() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt; nc::rotations::Quaternion::rotate </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt; &amp;&#160;</td>
          <td class="paramname"><em>inVector</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >rotate a vector using the quaternion</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inVector</td><td>(cartesian vector with x,y,z components) </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a> (cartesian vector with x,y,z components) </dd></dl>

</div>
</div>
<a id="a382d4e4c045bce131c5cce634ed077c7" name="a382d4e4c045bce131c5cce634ed077c7"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a382d4e4c045bce131c5cce634ed077c7">&#9670;&nbsp;</a></span>rotate() <span class="overload">[2/2]</span></h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classnc_1_1_vec3.html">Vec3</a> nc::rotations::Quaternion::rotate </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1_vec3.html">Vec3</a> &amp;&#160;</td>
          <td class="paramname"><em>inVec3</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >rotate a vector using the quaternion</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inVec3</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1_vec3.html" title="Holds a 3D vector.">Vec3</a> </dd></dl>

</div>
</div>
<a id="a075b6f1befef247f5d638c91e1a451fd" name="a075b6f1befef247f5d638c91e1a451fd"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a075b6f1befef247f5d638c91e1a451fd">&#9670;&nbsp;</a></span>s()</h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">double nc::rotations::Quaternion::s </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">noexcept</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >returns the s component</p>
<dl class="section return"><dt>Returns</dt><dd>double </dd></dl>

</div>
</div>
<a id="a7a39f199e4d1ad773b93c69e66ae0415" name="a7a39f199e4d1ad773b93c69e66ae0415"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a7a39f199e4d1ad773b93c69e66ae0415">&#9670;&nbsp;</a></span>slerp() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">static <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> nc::rotations::Quaternion::slerp </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td>
          <td class="paramname"><em>inQuat1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td>
          <td class="paramname"><em>inQuat2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>inPercent</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >spherical linear interpolates between the two quaternions</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inQuat1</td><td></td></tr>
    <tr><td class="paramname">inQuat2</td><td></td></tr>
    <tr><td class="paramname">inPercent</td><td>(0, 1) </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1rotations_1_1_quaternion.html" title="Holds a unit quaternion.">Quaternion</a> </dd></dl>

</div>
</div>
<a id="a687155cd6469c095941b94a738119da9" name="a687155cd6469c095941b94a738119da9"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a687155cd6469c095941b94a738119da9">&#9670;&nbsp;</a></span>slerp() <span class="overload">[2/2]</span></h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> nc::rotations::Quaternion::slerp </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td>
          <td class="paramname"><em>inQuat2</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>inPercent</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >spherical linear interpolates between the two quaternions</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inQuat2</td><td></td></tr>
    <tr><td class="paramname">inPercent</td><td>(0, 1) </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1rotations_1_1_quaternion.html" title="Holds a unit quaternion.">Quaternion</a> </dd></dl>

</div>
</div>
<a id="a0ddeeba7435df3364f262215f24c93c1" name="a0ddeeba7435df3364f262215f24c93c1"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a0ddeeba7435df3364f262215f24c93c1">&#9670;&nbsp;</a></span>str()</h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">std::string nc::rotations::Quaternion::str </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >returns the quaternion as a string representation</p>
<dl class="section return"><dt>Returns</dt><dd>std::string </dd></dl>

</div>
</div>
<a id="aaf9230af84ef1133ca9483da561b0450" name="aaf9230af84ef1133ca9483da561b0450"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aaf9230af84ef1133ca9483da561b0450">&#9670;&nbsp;</a></span>toDCM()</h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt; nc::rotations::Quaternion::toDCM </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >returns the direction cosine matrix</p>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a> </dd></dl>

</div>
</div>
<a id="a68e07632cd09569ad607cb802b400ded" name="a68e07632cd09569ad607cb802b400ded"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a68e07632cd09569ad607cb802b400ded">&#9670;&nbsp;</a></span>toNdArray()</h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classnc_1_1_nd_array.html">NdArray</a>&lt; double &gt; nc::rotations::Quaternion::toNdArray </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >returns the quaternion as an <a class="el" href="classnc_1_1_nd_array.html" title="Holds 1D and 2D arrays, the main work horse of the NumCpp library.">NdArray</a></p>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a> </dd></dl>

</div>
</div>
<a id="a30fe8031959271e5b0134a0c562713b4" name="a30fe8031959271e5b0134a0c562713b4"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a30fe8031959271e5b0134a0c562713b4">&#9670;&nbsp;</a></span>xRotation()</h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">static <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> nc::rotations::Quaternion::xRotation </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>inAngle</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span><span class="mlabel">noexcept</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >returns a quaternion to rotate about the x-axis by the input angle</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inAngle</td><td>(radians) </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1rotations_1_1_quaternion.html" title="Holds a unit quaternion.">Quaternion</a> </dd></dl>

</div>
</div>
<a id="a5b5cef534a39badf5d3079ee642e675c" name="a5b5cef534a39badf5d3079ee642e675c"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a5b5cef534a39badf5d3079ee642e675c">&#9670;&nbsp;</a></span>yaw()</h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">double nc::rotations::Quaternion::yaw </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">noexcept</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >The euler yaw angle in radians</p>
<dl class="section return"><dt>Returns</dt><dd>euler yaw angle in radians </dd></dl>

</div>
</div>
<a id="a7a59f6daaafd941879abecff8d3a1348" name="a7a59f6daaafd941879abecff8d3a1348"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a7a59f6daaafd941879abecff8d3a1348">&#9670;&nbsp;</a></span>yawRotation()</h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">static <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> nc::rotations::Quaternion::yawRotation </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>inAngle</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span><span class="mlabel">noexcept</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >returns a quaternion to rotate about the yaw axis</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inAngle</td><td>(radians) </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1rotations_1_1_quaternion.html" title="Holds a unit quaternion.">Quaternion</a> </dd></dl>

</div>
</div>
<a id="ab77da90ef63465f79bd79348330ca9a4" name="ab77da90ef63465f79bd79348330ca9a4"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab77da90ef63465f79bd79348330ca9a4">&#9670;&nbsp;</a></span>yRotation()</h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">static <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> nc::rotations::Quaternion::yRotation </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>inAngle</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span><span class="mlabel">noexcept</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >returns a quaternion to rotate about the y-axis by the input angle</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inAngle</td><td>(radians) </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1rotations_1_1_quaternion.html" title="Holds a unit quaternion.">Quaternion</a> </dd></dl>

</div>
</div>
<a id="aaf688fafc4714f1da399e265c8e49a8d" name="aaf688fafc4714f1da399e265c8e49a8d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aaf688fafc4714f1da399e265c8e49a8d">&#9670;&nbsp;</a></span>zRotation()</h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">static <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> nc::rotations::Quaternion::zRotation </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>inAngle</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span><span class="mlabel">noexcept</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >returns a quaternion to rotate about the y-axis by the input angle</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inAngle</td><td>(radians) </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classnc_1_1rotations_1_1_quaternion.html" title="Holds a unit quaternion.">Quaternion</a> </dd></dl>

</div>
</div>
<h2 class="groupheader">Friends And Related Function Documentation</h2>
<a id="a25202016ba38847906709881202a8e56" name="a25202016ba38847906709881202a8e56"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a25202016ba38847906709881202a8e56">&#9670;&nbsp;</a></span>operator&lt;&lt;</h2>

<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">std::ostream &amp; operator&lt;&lt; </td>
          <td>(</td>
          <td class="paramtype">std::ostream &amp;&#160;</td>
          <td class="paramname"><em>inOStream</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td>
          <td class="paramname"><em>inQuat</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">friend</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p >IO operator for the <a class="el" href="classnc_1_1rotations_1_1_quaternion.html" title="Holds a unit quaternion.">Quaternion</a> class</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">inOStream</td><td></td></tr>
    <tr><td class="paramname">inQuat</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>std::ostream&amp; </dd></dl>

</div>
</div>
<hr/>The documentation for this class was generated from the following file:<ul>
<li><a class="el" href="_quaternion_8hpp_source.html">Quaternion.hpp</a></li>
</ul>
</div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><a class="el" href="namespacenc.html">nc</a></li><li class="navelem"><a class="el" href="namespacenc_1_1rotations.html">rotations</a></li><li class="navelem"><a class="el" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a></li>
    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.4 </li>
  </ul>
</div>
</body>
</html>
